Artículo
Installation of Clip-Type Bird Flight Diverters on High-Voltage Power Lines with Aerial Manipulation Robot: Prototype and Testbed Experimentation
Autor/es | Rodríguez Castaño, Ángel
![]() ![]() ![]() ![]() ![]() ![]() Nekoo, Saeed Rafee Romero Rodríguez, Honorio Salmoral Lorenzo-Arroyo, Rafael Acosta Rodríguez, José Ángel ![]() ![]() ![]() ![]() ![]() ![]() ![]() Ollero Baturone, Aníbal ![]() ![]() ![]() ![]() ![]() ![]() ![]() |
Departamento | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Fecha de publicación | 2021 |
Fecha de depósito | 2021-09-20 |
Publicado en |
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Resumen | This work presents the application of an aerial manipulation robot for the semi-autono-mous installation of clip-type bird flight diverters on overhead power line cables. A custom-made prototype is designed, developed, and ... This work presents the application of an aerial manipulation robot for the semi-autono-mous installation of clip-type bird flight diverters on overhead power line cables. A custom-made prototype is designed, developed, and experimentally validated. The proposed solution aims to reduce the cost and risk of current procedures carried out by human operators deployed on sus-pended carts, lifts, or manned helicopters. The system consists of an unmanned aerial vehicle (UAV) equipped with a custom-made tool. This tool allows the high force required for the diverter installation to be generated; however, it is isolated from the aerial robot through a passive joint. Thus, the aerial robot stability is not compromised during the installation. This paper thoroughly describes the designed prototype and the control system for semi-autonomous operation. Flight experiments conducted in an illustrative scenario validate the performance of the system; the tests were carried out in an indoor testbed using a power line cable mock-up. |
Identificador del proyecto | 871479
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Cita | Rodríguez Castaño, Á., Nekoo S.R., , Romero Rodríguez, H., Salmoral Lorenzo-Arroyo, R., Acosta Rodríguez, J.Á. y Ollero Baturone, A. (2021). Installation of Clip-Type Bird Flight Diverters on High-Voltage Power Lines with Aerial Manipulation Robot: Prototype and Testbed Experimentation. Applied Sciences, 11 (16), Article number 7427. |
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